摘要
文章以前轮转向叉车为研究对象,在对电动叉车电动助力转向(electric power steering,EPS)系统进行动力学分析和建立整车二自由度模型的基础上,提出EPS系统鲁棒H∞控制器,并运用遗传算法对控制器的加权函数参数进行优化,使驾驶员获得满意的路感,系统的鲁棒性、行驶安全性得到提高。根据TFC20叉车的实际数据,进行Matlab在不同工况、不同控制方法下的对比仿真实验,从而验证了运用遗传算法优化的鲁棒控制器可以更好地给叉车提供可跟随的电机助力,确保系统的操作轻便性和稳定性。
In order to obtain satisfactory steering feel,robust performance and steering stability for electric front-wheel steering forklift,models of electric power steering(EPS)system and a two-degree-of-freedom forklift are established,then the robust H∞controller based on genetic algorithm optimization of weight function parameters is proposed.In light of the TFC20 forklift,the Matlab simulation analysis with different conditions and control methods is done,and the result indicates that the robust controller based on genetic algorithm is effective in offering controlled steering aided power and ensuring the maneuverability and stability of the system.
作者
闫启迪
肖本贤
YAN Qidi;XIAO Benxian(School of Electric Engineering and Automation,Hefei University of Technology,Hefei 230009,China;National Engineering Laboratory of Energy-saving Motor and Control Technique,Anhui University,Hefei 230601,China)
出处
《合肥工业大学学报（自然科学版）》
CAS
北大核心
2018年第2期188-193,共6页
Journal of Hefei University of Technology：Natural Science
基金
高节能电机及控制技术国家地方联合工程实验室开放课题基金资助项目(KFKT201701)
关键词
前轮转向叉车
电动助力转向(EPS)系统
鲁棒H∞控制器
遗传优化
模型
front-wheel steering forklift
electric power steering(EPS)system
robust H∞controller
genetic algorithm optimization
model
